Simulation of the stress-deformed state of the elements of the multifunctional manipulator of multipurpose robotic platforms
Abstract
The paper proposes a new approach (idea) to ensure the multi-functionality of manipulators of multi-purpose robotic platforms (MRP) using the latest Abenics technology in order to improve their operational properties such as passability and stability. The essence of this approach is that manipulators using the capabilities of Abenics technology can perform both their predetermined function and the function of a stepper or wheel drive.
The results of the volumetric modeling of multifunctional manipulators on the platform in the SolidWorks software environment are presented, and the design features of the Abenics technology are analyzed. In the SolidWorks software environment, the parameters of the stress-strain state of the finger elements (rod, contact support) of the end effector of the multifunctional manipulator were studied by means of simulation under a load of 200N. Determined: stress on the sections of the rod and contact support, the values of which are not critical; movement - 0.4-0.8 mm, is considered satisfactory, and the movement in the contact support is generally insignificant; deformation of the bar is within satisfactory limits; the margin of safety factor is higher than 1.3 – is satisfactory. It is impractical to calculate the deformation and safety factor of the contact support due to the high strength under this load.
It was established that with a load of 200N on the finger elements of the end effector of the multifunctional manipulator in the mode of a stepping or wheel drive, the MRP can transport loads weighing 200-250 kg. It is proposed to implement this approach primarily on logistical or medical BRPs, use on combat and special MRP will require additional stabilization to properly ensure the use of the appropriate weapons and special equipment that they carry.
Key words: multifunctional manipulator, rod, contact support, multipurpose robotic platform, Abenics technology.
